Bilateral control of nonlinear teleoperation for 2DOF robot manipulators with antagonistic bi-articular muscles.
Toshiyuki MuraoHiroyuki KawaiKenji HirataMasayuki FujitaPublished in: ASCC (2017)
Keyphrases
- robot manipulators
- end effector
- adaptive controller
- robotic manipulator
- control scheme
- inverse kinematics
- force feedback
- control of robot manipulators
- force control
- variable structure
- robotic arm
- degrees of freedom
- dynamic model
- sliding mode control
- control system
- sliding mode
- control strategy
- closed loop
- pose estimation
- master slave
- pid controller
- robot arm
- stability analysis
- adaptive neural
- adaptive control
- control law
- fuzzy neural network
- fuzzy controller
- basis functions